Upload starVLA checkpoint stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k step 20000

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k/checkpoints/steps_20000_pytorch_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cef5bf94a13386b23bc5faa3cf44a0f81080dfc15138d5a020716c0dcdf24c1
+size 5848235293

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k/config.full.yaml

@@ -0,0 +1,130 @@
+run_id: stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k
+run_root_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints
+seed: 42
+wandb_entity: 401910710-university-of-california-berkeley
+wandb_project: starVLA_piper
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenDiscreteDiffusion
+  state_conditioning: instruction
+  action_tokens:
+    vocab_size: 512
+    bounds_file: ./data/processed/FINAL/StateDeltaJoint/20261029_stacking_cups_30hz_cleanup_quantized_v512/quantizer.json
+    low:
+    - -0.03489894585789374
+    - -0.06613051891326904
+    - -0.0454017615243559
+    - -0.02577851340174675
+    - -0.05229005217552185
+    - -0.02900737151503563
+    - 0.004999999888241291
+    high:
+    - 0.03759439289569855
+    - 0.06691158803429191
+    - 0.07543313503265381
+    - 0.0319970144416418
+    - 0.034463898024775765
+    - 0.01850149657529516
+    - 0.5120000243186951
+  qwenvl:
+    base_vlm: ./playground/Pretrained_models/Qwen3-VL-2B-Instruct-Action
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    num_vl_layers: 28
+  action_model:
+    action_model_type: LayerwiseDD
+    action_dim: 7
+    state_dim: 7
+    action_horizon: 30
+    repeated_diffusion_steps: 2
+    add_pos_embed: true
+    max_seq_len: 1024
+    num_target_vision_tokens: 32
+    representation: bin
+    num_bins: 512
+    action_low: -1.0
+    action_high: 1.0
+    num_inference_steps: 8
+    train_mask_schedule: cosine
+    decode_schedule: cosine
+    no_mask_token_prob: 0.0
+    l1_loss_weight: 0.0
+    use_simple_max: false
+    target_space: tokens
+    diffusion_model_cfg:
+      action_dit_hidden_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      positional_embeddings: null
+      attention_head_dim: 64
+      num_layers: 28
+      input_embedding_dim: 1024
+      cross_attention_dim: 1024
+      num_attention_heads: 16
+      output_dim: 512
+    future_action_window_size: 29
+    past_action_window_size: 0
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: ./data
+    data_mix: stacking_cups_20261029_30hz_delta_joint_raw_h30_v512
+    tokens_dataset_path: ./data/processed/FINAL/StateDeltaJoint/20261029_stacking_cups_30hz_cleanup_quantized_v512
+    include_state: true
+    episode_split: train
+    action_type: delta_qpos
+    action_mode: abs
+    sequential_step_sampling: false
+    per_device_batch_size: 16
+    load_all_data_for_training: true
+    obs_image_size:
+    - 224
+    - 224
+    delete_pause_frame: false
+    video_backend: torchvision_av
+    num_workers: 2
+    persistent_workers: true
+    prefetch_factor: 2
+    pin_memory: true
+trainer:
+  pretrained_checkpoint: null
+  freeze_modules: qwen_vl_interface
+  max_train_steps: 20000
+  num_warmup_steps: 500
+  save_interval: 5000
+  eval_interval: 1000
+  repeated_diffusion_steps: 2
+  learning_rate:
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-06
+    action_model: 0.0001
+    project_layers: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  loss_scale:
+    vla: 1.0
+    vlm: 0.0
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 20
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  gradient_checkpointing: true
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_format: pt
+  is_resume: true
+  max_wall_time_hours: 60
+  wall_time_safety_minutes: 20
+  save_training_state: true
+config_yaml: /scratch/wangpc/DiscreteRTCv2/examples/realRobots/Piper/train_files/starvla_qwendd_qwen3vl2b_stacking_cups_20261029_30hz_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k.yaml
+output_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k/config.yaml

@@ -0,0 +1,111 @@
+datasets:
+  vla_data:
+    action_mode: abs
+    data_mix: stacking_cups_20261029_30hz_delta_joint_raw_h30_v512
+    data_root_dir: ./data
+    dataset_py: lerobot_datasets
+    delete_pause_frame: false
+    episode_split: train
+    num_workers: 2
+    obs_image_size:
+    - 224
+    - 224
+    per_device_batch_size: 16
+    persistent_workers: true
+    pin_memory: true
+    prefetch_factor: 2
+    tokens_dataset_path: ./data/processed/FINAL/StateDeltaJoint/20261029_stacking_cups_30hz_cleanup_quantized_v512
+    video_backend: torchvision_av
+framework:
+  action_model:
+    action_dim: 7
+    action_high: 1.0
+    action_horizon: 30
+    action_low: -1.0
+    add_pos_embed: true
+    decode_schedule: cosine
+    diffusion_model_cfg:
+      action_dit_hidden_dim: 1024
+      attention_head_dim: 64
+      cross_attention_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      input_embedding_dim: 1024
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_attention_heads: 16
+      num_layers: 28
+      output_dim: 512
+      positional_embeddings: null
+    l1_loss_weight: 0.0
+    max_seq_len: 1024
+    no_mask_token_prob: 0.0
+    num_bins: 512
+    num_inference_steps: 8
+    num_target_vision_tokens: 32
+    repeated_diffusion_steps: 2
+    representation: bin
+    state_dim: 7
+    target_space: tokens
+    train_mask_schedule: cosine
+    use_simple_max: false
+  action_tokens:
+    bounds_file: ./data/processed/FINAL/StateDeltaJoint/20261029_stacking_cups_30hz_cleanup_quantized_v512/quantizer.json
+    high:
+    - 0.03759439289569855
+    - 0.06691158803429191
+    - 0.07543313503265381
+    - 0.0319970144416418
+    - 0.034463898024775765
+    - 0.01850149657529516
+    - 0.5120000243186951
+    low:
+    - -0.03489894585789374
+    - -0.06613051891326904
+    - -0.0454017615243559
+    - -0.02577851340174675
+    - -0.05229005217552185
+    - -0.02900737151503563
+    - 0.004999999888241291
+    vocab_size: 512
+  name: QwenDiscreteDiffusion
+  qwenvl:
+    attn_implementation: flash_attention_2
+    base_vlm: ./playground/Pretrained_models/Qwen3-VL-2B-Instruct-Action
+    num_vl_layers: 28
+    vl_hidden_dim: 2048
+  state_conditioning: instruction
+output_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k
+run_id: stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k
+run_root_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints
+seed: 42
+trainer:
+  eval_interval: 1000
+  freeze_modules: qwen_vl_interface
+  gradient_clipping: 1.0
+  is_resume: true
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    project_layers: 0.0001
+    qwen_vl_interface: 1.0e-06
+  logging_frequency: 20
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 20000
+  max_wall_time_hours: 60
+  num_warmup_steps: 500
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  pretrained_checkpoint: null
+  save_format: pt
+  save_interval: 5000
+  save_training_state: true
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  wall_time_safety_minutes: 20
+wandb_entity: 401910710-university-of-california-berkeley
+wandb_project: starVLA_piper

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k/dataset_statistics.json

@@ -0,0 +1,127 @@
+{
+  "new_embodiment": {
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+      "mask": [
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+        true,
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+    },
+    "num_transitions": 25998,
+    "num_trajectories": 45
+  }
+}

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k/summary.jsonl

@@ -0,0 +1,7 @@
+{"steps": 626}
+{"steps": 1817}
+{"steps": 5000}
+{"steps": 10000}
+{"steps": 10000}
+{"steps": 15000}
+{"steps": 20000}

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_raw_h30_v512_3cam_2gpu_gb32_20k/wall_time_ledger.json

@@ -0,0 +1,39 @@
+{
+  "budget_hours": 60.0,
+  "safety_minutes": 20.0,
+  "sessions": [
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+      "started_at": "2026-10-31T08:48:30+00:00",
+      "elapsed_seconds": 4482.9,
+      "start_step": 0,
+      "last_step": 626,
+      "end_reason": "signal",
+      "signal": "SIGUSR1"
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+      "end_reason": "signal",
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+      "start_step": 5000,
+      "last_step": 20000,
+      "end_reason": "completed",
+      "signal": null
+    }
+  ],
+  "total_elapsed_seconds": 59026.0
+}